臺灣博碩士論文加值系統

　　魯班木車馬在古中國科技史上，是一項傑出的發明。本研究的目的，是根據文獻記載並利用一套設計程序，復原設計出魯班木車馬。所復原的木車馬，是由四組相同的十桿十三接頭且具單一自由度的連桿組以及作為平衡用的拖車所構成。首先，修正顏氏創造性機構設計法，據以系統化合成出233種腿部機構；針對所建立的評估標準，找出30種可行的腿部機構，進而挑選出與王氏設計相似之腿部機構。接著，利用向量迴路法進行運動分析，求得足部軌跡曲線，並建立推力與機械利益分析的數學模式。再者，利用最佳化方法，結合傳動性能、仿生能力、及基本限制三方面的限制條件，合成出具有最小化推力的十連桿型木車馬，並與邱氏八連桿型木車馬做運動性能的比較與分析。結果顯示，本研究所設計出的十連桿型木車馬，在推力和機械利益方面都有相當不錯的表現。最後，由電腦動畫模擬並製作出的原型機，證明所復原的十連桿型魯班木車馬的確能達到運動要求。

　The wooden horse carriage of Lu Ban is an outstanding achievement in the history of ancient Chinese technology. The intention of this work, based on the historical records and the procedure of reconstruction research, is to reconstruct Lu-Ban’s wooden horse carriage. The 10-link type wooden horse carriage in this study consists of a walking horse with four identical leg mechanisms and a carriage for balancing. Each leg is a 10-bar linkage with 13 joints and one degree-of-freedom. At first, based on the modified Yan’s creative mechanism design methodology, 233 10-bar leg mechanisms are generated systematically, and 30 feasible 10-bar leg mechanisms are identified according to concluded evaluation criteria. A leg mechanism similar to Wang’s or Chiou’s leg mechanism is selected for detail design. Vector loop approach is used to obtain the foot trajectory, and the equations of static force and mechanical advantage analyses are formulated. Augmented Lagrange Multiplier method is applied to find optimum leg dimensions with minimum input force. Furthermore, the kinematic performances of Chiu’s 8-link and the proposed 10-link wooden horse carriages are evaluated. The result shows that the designed 10-link wooden horse carriage has better characteristics in input force and mechanical advantage. And, based on computer simulations and the built prototype, we further prove this reconstructed 10-link wooden horse carriage of Lu Ban is feasible.

THESIS CERTIFICATION...........................II
摘要..........................................III
ABSTRACT.......................................IV
ACKNOWLEDGEMENTS................................V
CONTENTS.......................................VI
LIST OF TABLES.................................IX
LIST OF FIGURES.................................X
Chapter 1 Introduction.........................1
1.1 Procedure of Reconstruction for Ancient Machinery .......................................1
1.2 Walking Machines in Ancient China..........3
1.3 Reconstruction Study.......................5
1.4 Objectives and Thesis Organization.........7
Chapter 2 Review of Historical Literary Work .10
2.1 Biography of Lu Ban.......................10
2.2 Literatures about Lu Ban..................12
2.3 Authenticity of the Wooden Horse Carriage.14
Chapter 3 Conceptual Design...................16
3.1 Analysis of Existing Mechanisms...........17
3.2 Design Constraints and Requirements.......19
3.3 Atlas of (10, 13) Kinematic Chains........20
3.4 Specialization............................20
3.5 Particularization.........................22
3.6 Evaluation of Leg Mechanisms..............22
3.7 Atlas of New Leg Mechanisms...............26
3.8 Summary...................................26
Chapter 4 Position Analysis...................28
4.1 Loop 1....................................29
4.2 Loop 2....................................32
4.3 Loop 3....................................33
4.4 Loop 4....................................34
Chapter 5 Force Analysis......................36
5.1 Force Analysis............................36
5.1.1 Analysis of striding phase..............39
5.1.2 Analysis of supporting phase............42
5.2 Analysis of Mechanical Advantage..........45
5.3 Summary...................................46
Chapter 6 Optimal Design......................47
6.1 Design Objective and Design Parameters....47
6.2 Design Constraints........................47
6.3 Optimal Design............................49
6.4 Summary...................................54
Chapter 7 Performance Analysis................55
7.1 Foot Trajectory...........................55
7.2 Input Force...............................56
7.3 Mechanical Advantage......................57
7.4 Summary...................................58
Chapter 8 Protyping...........................59
8.1 Layer Arrangement for Links...............59
8.2 Design of Links...........................62
8.3 Computer Simulation.......................63
8.4 Prototype.................................63
Chapter 9 Conclusions and Sugesstions.........65
References.....................................68
APPENDIX A Kinematic Chains Subject to Constraint 1...................................71
APPENDIX B Leg Mechanisms.....................74
VITA...........................................90
自述...........................................91

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